Automation for a Changing World Delta Robot Controller

Delta Robot Controller with Servo Drive Integrated ASDA-MS Series
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Integrated Structure, Outstanding Performance As a leading industrial automation brand, Delta continues to provide automated solutions for a wide range of applications and industries to fulfill customers' demands. Since industrial robots are becoming more and more important for industrial automation, Delta's industrial robot solution combines key products including controllers, AC servo drives, high-speed motion communication and a general communication interface into a real-time and highly flexible Robot Controller with Servo Drive Integrated - the ASDA-MS Series.
Innovative and Integrated Design The ASDA-MS Series integrates a robot controller and 4 axes of servo drives to perform mathematical calculations, smooth track planning, and provide loop control in one unit, greatly enhancing real-time system calculation performance. This design perfectly fulfills the demands of an industrial robots' complex non-linear system and realizes dynamic compensation to achieve high speed and high precision.
Complete Development Platform The ASDA-MS Series also supports the IEC61131-3 standard's five kinds of programming language and PLCopen motion function block. It offers Delta Robot Languages (DRL) for robot application program development, so that customers can develop customized functions and programs for applications in various industries. In addition, the ASDA-MS Series integrates peripheral devices (such as machine vision systems, sensors, and central computers) through a variety of communication interfaces, and matches extension axes via high-speed motion BUS such as Modbus and Modbus TCP to build a complete industrial robot solution.
In the competitive global market of industrial robots, Delta offers a professional industrial robot total solution to fulfill all kinds of market requirements and assist customers in improving their competitiveness and enhancing customization to provide "Automation for a Changing World".
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Introduction
Optional Cables and Connectors
Complete Robot Solution • Integrates robot controller, motion controller and
servo drive in one single unit with high flexibility and reliability
• Supports communication protocols for fast and smooth integration with peripheral devices
• Built-in diverse robot control modules for different applications
• Enhanced flexibility and extension with 4-axis robot and 6 external axes motion control
• Supports 5 kinds of programming languages with IEC 61131-3 standard and the PLCopen motion function block
• Offers DRL Languages for developing robot application programs and specific skill functions to fulfill customer requirements
• Supports G-code programming for path planning
User-Friendly Robot Software • IEC 61131-3 PLC programming
• DRL programming
• Intelligent robot calibration
• Real-time monitoring oscilloscope
• Applicable for different types of robots such as SCARA Robots, Delta Articulated Robots and more
PAD
ASDA-A2-FASDA-MS
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Product Features All-in-One Robot Controller Integrates motion controller, robot controller and 4 servo drives into one single unit to speed up data transmission, enhance system control performance and dynamically compensate non-linear terms that affect robot motion during robot moving processes, which meets the high speed and high precision requirements of robot or motion control applications.
Articulated Robot
Communication Networks for Integrated System Configuration Supports communication protocols including Ethernet, RS-485/232 for fast integration with peripheral devices such as PLC, conveyor, DMV and other conveyor lines, offering a complete solution for information exchange with a central monitoring PC.
Diverse Robot Control Offers a variety of tools for implementing functions and supports different types of robots such as the 4-axis SCARA robot, the Linear DELTA, DELTA robot, and the 2 axes extension via DMCNET for 6-axis articulated robot to meet diverse requirements with flexibility and reliability
PAD
Programmable Logic Controller (PLC)
• Meets the requirements for both single robot or workstation applications integrated with Delta's industrial automation products and related robot peripheral devices to create a complete robotic automation solution
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Advanced Motion Control Functions Featuring robot motion commands (e.g. point to point, linear, and arc), and supports G-code standard commands for CNC and other functions, the ASDA-MS Series offers the best solution with built-in optimized path control functions such as handling small path errors, fixing feed rate, and reducing path planning inaccuracy.
G0 X0 G0 X300 G1 X700 G1 X1000 G1 X0 G1 3000
Y0 Y300 Y700 Y1000 Y0 Y4000
Z0 Z500 Z700 Z1000 Z0 Z5000
G-code
DELTA Robot
SCARA Robot
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The DRAS Software supports five kinds of IEC 61131-3 programming languages, PLCopen motion function block, and DRL languages for developing customized robot application programs to ensure the uniqueness and completeness of individual systems.
IEC 61131-3 PLC Programming Supports five kinds of IEC 61131-3 programming languages and PLCopen motion function block, offering programming tools to execute techniques and functions for different applications
• LD - Ladder Diagram
• IL- Instruction List
• ST – Structured Text
Delta Robot Language (DRL) Programming Provides programming development for a variety of industry applications to control industrial robots and exchange data between peripheral devices
DRAS Software (Delta Robot Automation Studio)
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Supports Diverse Industrial Robots Enables real-time parameter adjustment such as gear ratio, reduction ratio, limit value and deviation of robot arm via intuitive interface design for simple operating procedures
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Intelligent Robot Calibration Allows customers to calibrate deviation of the actual device assembly based on the calibration procedure, which will automatically correct the parameters of devices to match the actual size
Real-time Monitoring Oscilloscope Assists customers in monitoring real-time information and the status of the robot arm motion process, including path planning operation, real-time analysis of system conditions and motor controlled parameters such as position, speed and current of each axis during the motion process for optimized parameter adjustment
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Dynamic Tuning Provides a convenient dynamic tuning function to adjust parameters of each axis for system optimization
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space savings and simple wiring
• Uses soldering software to export PCB CAD files of solder holes for robot controller to control SCARA in achieving soldering with high speed
• Auto calibration for correcting deviation when changing soldering tools to achieve precision soldering
• Total solution adopts Delta industrial automation products for easy integration and maintenance
Automatic Screw-Driving Solution • Robot controller with servo drive integrated for
space savings and easy wiring
• SCARA delivers consistent quality with high repeatability
• Flexible robot teaching movement and motion control for interchangeable production
DIO
ASDA-MS
DIO
Input positions of solder holes on PCB boards
Integrates four servo drives in one single unit for space savings
ASDA-MS
• Synchronizes robot movement to handle workpieces without stopping conveyor for enhanced production efficiency
• Customer-driven PC software offers flexible adjustment and assists users redesign and self-develop for customized applications
• General communication interface easily connects different machine vision systems and modules
• Simple system configuration to perform glue dispensing during conveyance
Machine Vision System
SCARA Robot
• Robot controller with servo drive integrated for saving space and easy wiring
• Combines flexible robot movement with machine vision system for quick inspection of multi-products production
• Simplified system with high reliability and simple wiring configuration via MODBUS communication structure
• Links to MES System for optimized manufacturing and interchangeable production
Machine Vision System
Five-side Appearance Inspection of Finished Goods Solution
ASDA-MS
RS232
1: Incremental encoder, 20-bit 2: Incremental encoder, 17-bit A: Absolute Encoder Single-turn: 17-bit Multi-turn: 16-bit
Ordering Information ASDA-MS Series Controller
ECMA Series Servo Motors*1
ASD - MS - 07 21 - F MS Series
Rated Output Power 04: 400W 07: 750W 10: 1000W
Input Voltage 21: 220V / 1-phase 23: 220V / 3-phase
Type F Series: 4-axis Drive (with Conveyor Tracking Function) FRApplicable to add regenerative resistor V Series: 6-axis Drive C Series: Basic Drive
ECM A - C 1 06 02 E S Shaft Diameter S: Standard Shaft Diameter H: Specific Shaft Diameter / High Inertia Model 7: Special Shaft DiameterDriving Type
A: AC Servo Motor
Servo Motor Model
W/O Brake
Keyway E F - - Keyway
(with screw hole) P Q R S
Rated Output Power 0F: 50 W 01: 100 W 02: 200 W 03: 300 W
04: 400 W 05: 500 W 06: 600 W 07: 750 W
08: 850 W 09: 900 W 10: 1 kW
Motor Frame Size 04: 40 mm 06: 60 mm
08: 80 mm 09: 86 mm
10: 100 mm 13: 130 mm
Series Rated Voltage / Rated Speed C: 220 V / 3000 r/min E: 220 V / 2000 r/min
F: 220 V / 1500 r/min G: 220 V / 1000 r/min
*1: The external axes for ASDA-MS Series must support DMCNET Communication *2: The motor for ASDA-MS Series must align with the same encoder type
*Conveyor tracking function available
Types for different mechanisms Right angle SCARA Articulated DELTA Press
Unloader Common Version*
ECMC Series Servo Motors
ECM C - C W 06 02 R S Shaft Diameter S: Standard Shaft Diameter
Driving Type C: C Series
Product Name ECM: Electrical Commutation Motor
Rated Output Power 01: 100 W 02: 200 W 04: 400 W
Encoder Type W: Absolute Encoder Single-turn: 22-bit Multi-turn: 16-bit
Motor Frame Size 04: 40 mm 06: 60 mm 08: 80 mm 10: 100 mm
Rated Voltage / Speed C: 220 V / 3000 r/min
Servo Motor Model
W/O Brake
Servo Motor Model
W/O Brake
ECMR Series Servo Motor
ECM R - C V 06 02 R S Shaft Diameter S: Standard Shaft Diameter
Driving Type RServo Motor for Robot
Product Name ECM : Electrical Commutation Motor
Rated Output Power 01100 W 02200 W 04400 W
Encoder Type V : Absolute Magnetic Type Single-turn: 22-bit Multi-turn: 16-bit
Motor Frame Size 0440 mm 0660 mm
Rated Voltage / Speed C : 220 V / 3000 r/min
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ECMC-A3 Series Servo Motors
ECM - A 3 H - C Y 06 04 R S 1
Shaft Diameter S: Standard 7: Special (14 mm)
Driving Type A: A Series
Product Name ECM: Electrical Commutation Motor
Special Digit 1: Standard Product
Motor Frame Size 04: 40 mm 06: 60 mm 08: 80 mm
Rated Output Power 0F: 50 W 01: 100 W 02: 200 W 04: 400 W 07: 750 W
Inertia H: High Inertia L: Low Inertia
Series Rated Voltage / Rated Speed C: Rated Voltage 220 V, Rated Speed 3,000 r/min
Encoder Type Y: 24-bit Absolute Encoder
Single-turn: 24-bit Multi-turn: 16-bit
Generation 3: 3rd Generation
W/O Brake
Keyway (with screw hole) - - R S
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Servo Motor Specifications Model Name Rated output
power (kW) Rated voltage Frame Rated speed Servo Motor Model Name Shaft Diameter Notes
ASD-MS-0421-F-
100 220V 40 3000RPM ECMA-C 0401 S 8mm
100 220V 40 3000RPM ECMC-CW0401 S 8mm Absolute Magnetic Encoder (Single-turn: 22 bit / Multi-turn: 16 bit)
100 220V 40 3000RPM ECM-A3 - 0401 S 8mm
100 220V 40 3000RPM ECMR-CV0401RS 8mm Absolute Magnetic Encoder (Single-turn: 22 bit / Multi-turn: 16 bit)
200 220V 60 3000RPM ECMA-C 0602 S 14mm
200 220V 60 3000RPM ECM-A3 - 0602 S 14mm
400 220V 60 3000RPM ECMA-C 0604 S 14mm
400 220V 60 3000RPM ECMA-C 0604 H 14mm High Inertia
400 220V 60 3000RPM ECM-A3 -C 0604 S 14mm
400 220V 80 3000RPM ECMA-C 0804 7 14mm
400 220V 80 3000RPM ECM-A3H-C 0804 S 14mm
ASD-MS-0721-
750 220V 80 3000RPM ECMA-C 0807 S 19mm
750 220V 80 3000RPM ECMA-C 0807 H 19mm High Inertia
750 220V 80 3000RPM ECM-A3 - 0807 S 19mm
750 220V 86 3000RPM ECMA-C 0907 S 16mm
ASD-MS-1023-
1000 220V 80 3000RPM ECMA-C 0810 S 19mm
1000 220V 86 3000RPM ECMA-C 0910 S 16mm
1000 220V 100 3000RPM ECMA-C 1010 S 22mm
1000 220V 130 2000RPM ECMA-E 1310 S 22mm
1000 220V 130 2000RPM ECMA-E 1315 S 22mm
1000 220V 130 2000RPM ECMA-E 1815 S 35mm *1. =1: Incremental encoder, 20-bit ; =2: Incremental encoder, 17-bit ; =A: Absolute encoder (Single-turn 17bit/ Multi-turn 16bit) *2. = shaft end/brake or the number of oil seals *3. =L: Low Inertia ; =H: High Inertia
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Servo Drive and Servo Motor Combinations Servo Drive and Servo Motor Combinations Example
400W Servo Drive ASD-MS-0421-
Options 100W 200W 400W
Options 100W 200W 400W
Options 750W 1000W
Options 750W 1000W
With Servo Motor
400W Servo Drive
750W Servo Drive
1000W Servo Drive
400W Servo Drive
750W Servo Drive
1000W Servo Drive
400W
750W
1000W
400W
750W
1000W
400W
750W
1000W
200W
750W
750W
200W
750W
750W
200W
400W
750W
200W
750W
750W
100W
200W
750W
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Specifications ASDA-MS Series 400W (for 4 axes of control) 750W (for 4 axes of control) 1000W (for 4 axes of control)
04 07 10
Three-phase / Single-phase 220 VAC
Permissible Voltage Range Three-phase / Single-phase: 200 ~ 230 VAC-15% ~ 10%
Three-phase / Single-phase: 200 ~ 230 VAC -15% ~ 10%
3-phase: 200 ~ 230 VAC -15% ~ 10%
Control of Main Circuit 24VDC-10%~10% Input Current (3PH)
(Units: Arms) 8.1 12.4 16.4
Input Current (1PH) (Units: Arms)
14.8 23.8 -
2.6 5.1 (for each axis) 7.3(J1.J2) / 5.1(J3.J4)
Dimensions (W) x (H) x (D) mm / Weight 175 mm x 300 mm x 159 mm / 5.6 kg
Cooling System Fan Cooling
Encoder Resolution / Feedback Resolution 20-bit (1280000 p/rev)
Control of Main Circuit SVPWM (Space Vector Pulse Width Modulation) Control
Tuning Modes Auto / Manual
Programming Languages Supports IEC61131-3 PLC, Delta Robot Language (DRL), NC-code (basic language)
Motion Control Mode PTP (Point to Point) Motion, Linear Interpolation, Circular interpolation
Memory Capacity 20MByte for User Program and Data Memory 16KByte for PLC SV/DV Variables (Not Retained) 60KByte for PLC DH Variables (Retained)
1K Points for Global Use (shareable in different programs) Max. 32K Points for Every User Program
Input / Output Digital I/O Standard I/O: Input: 24; Output: 12
System I/: Input: 8; Output: 8
Brake Output Output: 4
Ethernet 1 Channel
RS-232 / RS-485 1 Port (One port can switch two communication function)
DMCNET 1 Channel
Installation Site Indoor location (free from direct sunlight) No corrosive liquid and gas (far away from oil mist, flammable gas, dust)
Altitude Altitude 1000m or lower above sea level
Atmospheric Pressure 86 kPa ~ 106 kPa
Operating Temperature*2
Combination of Motors
Max. Operating Temperature
Limit - - 750 W × 4 40 ºC - -
400 W × 2 200 W × 2 55 ºC 750 W × 2
400 W × 2 45 ºC 1000 W × 2 750 W × 2 40 ºC
200 W × 4 55 ºC 400 W × 4 50 ºC 750 W × 4 40 ºC
200 W × 2 100 W × 2 55 ºC 400 W × 2
200 W × 2 55 ºC 750 W × 2 400 W × 2 45 ºC
Storage Temperature -20 ºC ~ 65 ºC
Humidity 0 ~ 90% RH (non-condensing)
Vibration 9.80665 m/s2 (1G) less than 20 Hz, 5.88 m/s2 (0.6G) 20 ~ 50 Hz
IP Rating IP20
Certifications IEC/EN 61800-5-1, UL 508C, RCM
*1. TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that point by a protective earth conductor *2. Operating temperature: please apply this robot controller based on the power output and under appropriate temperature, and avoid extreme heat for normal operation
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Exterior of the Robot Controller Teaching Pendant Connection Port Serial Communication Port
For MODBUS communication control, supporting RS-485 / RS-232 serial communication
High-speed Communication Port • Ethernet: ModbusTCP communication protocol • USB1, USB2: for USB flash drives • DMCNET: for DMCNET peripherals
LED Display
Indicates the controller's status or fault codes (5 digit, 7 segment)
Main Circuit Terminal (R, S, T) Supports 200 ~ 230VAC, 50/60Hz commercial power supply
Servo Motor Output (U, V, W) Connects the servo motors (please do not connect main circuit power to the terminal as the controller may be damaged)
Motor Brake Output Terminal (BRK. DIO)
Standard I/O Terminal (STD. DIO)
System I/O Terminal (SYS. DIO)
STO I/O Terminal (Safe Torque Off) Used to connect a certified safety relay or switch for controlling STO I/O signals
Full-Closed Loop Control Interface (EXT. ENC) Supports position feedback signals (A, B, Z phase)
Control Circuit Terminal Connects DC24V power supply
Ground Terminal Connects the grounding wire of power supply and servo motor
Motor Encoder Interface (MOTOR. ENC.) Connects the encoder signals of 4 servo motors
Dimensions of the Robot Controller
1) Dimensions are in millimeters (inches); Weights are in kilograms (kg) and (pounds (lbs) 2) Dimensions and weights of the robot controller may be revised without prior notice
159.25(6.2108)175.2(6.8328)
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Model C 1 0401 2 S 3 C 1 0602 2 S 3 C 1 0604 2 S 3 C 1 0804 2 7 3 C 1 0807 2 S 3
LC 40 60 60 80 80
LZ 4.5 5.5 5.5 6.6 6.6
LA 46 70 70 90 90
S 8 ( +0 - 0.009 ) 14 ( +0
- 0.011 ) 14 ( +0 - 0.011 ) 14 ( +0
- 0.011 ) 19 ( +0 - 0.013 )
- 0.03 ) 70 ( +0 - 0.03 )
LS 22.5 27 27 27 37
LR 25 30 30 30 40
LE 2.5 3 3 3 3
LG 5 7.5 7.5 8 8
LW 16 20 20 20 25
RH 6.2 11 11 11 15.5
WK 3 5 5 5 6
W 3 5 5 5 6
T 3 5 5 5 6
TP M3 Depth 8 M4 Depth 15 M4 Depth 15 M4 Depth 15 M6 Depth 20
1) Unit: mm 2) In servo motor model names, 1
signifies encoder type, 2 signifies shaft diameter and oil seal, and 3 signifies special code
Dimensions of Servo Motors • ECM-A3 Series
Speed-Torque Curves (T-N Curves)
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Model C1040F S C 0401 S C 0602 S C 0604 S C 0604 H C 0804 7 C 0807 S C 0807 H C 0907 S C 0910 S
LC 40 40 60 60 60 80 80 80 86 86
LZ 4.5 4.5 5.5 5.5 5.5 6.6 6.6 6.6 6.6 6.6
LA 46 46 70 70 70 90 90 90 100 100
S 8( +0 - 0.009 ) 8( +0
- 0.009 ) 14( +0 - 0.011 ) 14( +0
- 0.011 ) 14( +0 - 0.011 ) 14( +0
- 0.011 ) 19( +0 - 0.013 ) 19( +0
- 0.013 ) 16( +0 - 0.011 ) 16( +0
- 0.011 )
- 0.030 )
LL (without brake) 79.1 100.6 105.5 130.7 145.8 112.3 138.3 151.1 130.2 153.2
LL with brake -- 136.8 141.6 166.8 176.37 152.8 178 189 161.3 184.3
LS 20 20 27 27 27 27 32 32 30 30
LR 25 25 30 30 30 30 35 35 35 35
LE 2.5 2.5 3 3 3 3 3 3 3 3
LG 5 5 7.5 7.5 7.5 8 8 8 8 8
LW 16 16 20 20 20 20 25 25 20 20
RH 6.2 6.2 11 11 11 11 15.5 15.5 13 13
WK 3 3 5 5 5 5 6 6 5 5
W 3 3 5 5 5 5 6 6 5 5
T 3 3 5 5 5 5 6 6 5 5
TP M3 Depth 8
M3 Depth 8
M4 Depth 15
M4 Depth 15
M4 Depth 15
M4 Depth 15
M6 Depth 20
M6 Depth 20
M5 Depth 15
M5 Depth 15
1) Dimensions: millimeters (mm) 2) Dimensions of the servo motors may be revised without prior notice
3) The boxe( ) in the model names are for optional configurations (keyway, brake and oil seal) 4) The boxes ( ) in the model names are for resolution types ( =1: Incremental encoder, 20-bit; =2: Incremental encoder, 17-bit)
Servo Motor Dimensions • ECMA Frame Number 86 Series (including the following models)
Speed-Torque Curves (T-N Curves) Torque (N-m)
ECMA-C 0602 S ECMA-C 0807 S ECMA-C 0807 H
Torque (N-m) Torque (N-m)
Torque (N-m)Torque (N-m)
Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone Continuous Duty Zone
ECMA-C 0401 S
Speed (r/min) Speed (r/min) Speed (r/min) Speed (r/min) Speed (r/min)
Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone Intermittent Duty Zone
ECMA-C1040F S
Servo Motor Dimensions • ECMA Frame Number 100 / 130 Series
Model C 1010 S E 1305 S E 1310 S E 1315 S F 1308 S G 1303 S G 1306 S G 1309 S LC 100 130 130 130 130 130 130 130
LZ 9 9 9 9 9 9 9 9
LA 115 145 145 145 145 145 145 145
S 22( +0 - 0.013 ) 22( +0
- 0.013 ) 22( +0 - 0.013 ) 22( +0
- 0.013 ) 22( +0 - 0.013 ) 22( +0
- 0.013 ) 22( +0 - 0.013 ) 22( +0
- 0.013 )
- 0.035 )
LL (without brake) 153.3 147.5 147.5 167.5 152.5 147.5 147.5 163.5
LL with brake 192.5 183.5 183.5 202 181 183.5 183.5 198
LS 37 47 47 47 47 47 47 47
LR 45 55 55 55 55 55 55 55
LE 5 6 6 6 6 6 6 6
LG 12 11.5 11.5 11.5 11.5 11.5 11.5 11.5
LW 32 36 36 36 36 36 36 36
RH 18 18 18 18 18 18 18 18
WK 8 8 8 8 8 8 8 8
W 8 8 8 8 8 8 8 8
T 7 7 7 7 7 7 7 7
TP M6 Depth 20
M6 Depth 20
M6 Depth 20
M6 Depth 20
M6 Depth 20
M6 Depth 20
M6 Depth 20
M6 Depth 20
1)1) Dimensions: millimeters (mm) 2) Dimensions of the servo motors may be revised without prior notice
3) The boxes ( ) in the model names are for optional configurations (keyway, brake and oil seal) 4) The boxes ( ) in the model names are for resolution types. =1: Incremental encoder, 20-bit; =2: Incremental encoder, 17-bit) = A:Absolute type
Torque (N.m)
Torque (N.m)
Torque (N.m)
Torque (N.m)
Torque (N.m)
Torque (N.m)
Speed (r/min) Speed (r/min)
Speed (r/min) 2,300
ECMA-G 1303 S
Speed (r/min)
7.16
4.8
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ECM-A3 Series ECM-A3L ECM-A3H
C 04 C 06 C 06 C 08 C 08 C 04 C 06 C 06 C 08 C 08 01 02 04 04 07 01 02 04 04 07
Rated output power (kW) 0.1 0.2 0.4 0.4 0.75 0.1 0.2 0.4 0.4 0.75 Rated torque (N-m)*1 0.32 0.64 1.27 1.27 2.39 0.32 0.64 1.27 1.27 2.39
Maximum torque (N-m) 1.12 1.92 3.82 3.82 7.17 1.12 2.24 4.45 4.44 8.36 Rated speed (r/min) 3000
Maximum speed (r/min) 6000 Rated current (A) 0.89 1.45 2.65 2.6 5.1 0.9 1.45 2.65 2.6 4.5
Maximum current (A) 3.5 5 8.5 8.6 15.9 3.52 5.4 9.9 9.4 16.6 Power rating (kW/s) 25.3 45.5 107.5 45.4 111 13.8 16.4 35.8 17.5 37.8
Rotor moment of inertia (x10-4kg-m2)(without brake) 0.0405 0.09 0.15 0.355 0.513 0.0742 0.25 0.45 0.92 1.51
Mechanical time constant (ms) 0.817 0.64 0.41 0.68 0.405 1.38 1.37 0.96 1.31 0.91 Torque constant-KT (N-m/A) 0.36 0.44 0.48 0.49 0.469 0.356 0.44 0.48 0.49 0.53
Voltage constant-KE (mV/(r/min) 13.6 16.4 18 17.9 17 13.2 16.4 17.2 17.9 18.7 Armature resistance (Ohm) 9.47 4.9 2.27 1.6 0.6 8.34 3.18 1.68 1.19 0.57 Armature inductance (mH) 16.2 18.52 10.27 10.6 4.6 11 8.15 4.03 4.2 2.2
Electrical time constant (ms) 1.71 3.78 4.52 6.63 7.67 1.32 2.14 2.4 3.53 3.86 Insulation class A class (UL), B class (CE)
Insulation resistance 100MΩ, DC 500V above Insulation strength 1.8k VAC, 1 sec
Weight (kg)(without brake) 0.5 1.1 1.4 2.05 2.8 0.5 1.1 1.4 2.05 2.8 Weight (kg)(with brake) 0.8 1.6 1.9 2.85 3.6 0.8 1.6 1.9 2.85 3.6
Max. radial shaft load (N) 78 245 245 392 392 78 245 245 392 392 Max. thrust shaft load (N) 54 74 74 147 147 54 74 74 147 147
Power rating (kW/s)(with brake) 24.5 37.24 89.6 41 95.4 13.6 15.17 34.32 15.1 34.4 Rotor moment of inertia (x10-4kg-m2)(with brake) 0.0418 0.12 0.18 0.393 0.599 0.0755 0.28 0.48 1.07 1.66
Mechanical time constant (ms)(with brake) 0.844 0.88 0.47 0.75 0.472 1.4 1.52 1.01 1.53 1
Brake holding torque [Nt-m (min)]*2 0.32 1.3 1.3 2.5 2.5 0.32 1.3 1.3 2.5 2.5 Brake power consumption (at 20C)
[W] 7.3 7.2 7.2 8.4 8.4 7.3 7.2 7.2 8.4 8.4
Brake release time [ms (Max)] 5 20 20 20 20 5 20 20 20 20 Brake pull-in time [ms (Max)] 25 50 50 70 70 25 50 50 70 70
Vibration grade (μm) 16 15 Operating temperature (C) 0ºC ~ 40ºC Storage temperature (C) -10ºC ~ 80ºC
Operating humidity 20 ~ 90%RH (non-condensing) Storage humidity 20 ~ 90%RH (non-condensing) Vibration capacity 2.5G
IP Rating IP65 (when waterproof connectors are used, or when an oil seal is used to be fit to the rotating shaft)
Approvals
*1 Rate torque values are continuous permissible values at 0 ~ 40ºC ambient temperature when attaching with the sizes of heatsinks listed below: ECMA-A3L_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm Material: Aluminum – F60, F80
*2 The holding brake is for holding the motor shaft, not for decelerating or stopping the machine
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Servo Motor Specifications • Low Inertia Series
ECMA Series C104 C 04 C 06 C 08 C 09 C 10
0F 01 02 04 S 04 07 07 10 10 Rated output power (kW) 0.05 0.1 0.2 0.4 0.4 0.75 0.75 1.0 1.0
Rated torque (N-m)*1 0.159 0.32 0.64 1.27 1.27 2.39 2.39 3.18 3.18 Maximum torque (N-m) 0.477 0.96 1.92 3.82 3.82 7.16 7.14 8.78 9.54
Rated speed (r/min) 3000 3000 3000 Maximum speed (r/min) 5000 3000 5000
Rated current (A) 0.69 0.90 1.55 2.60 2.60 5.10 3.66 4.25 7.30 Maximum current (A) 2.05 2.70 4.65 7.80 7.80 15.3 11 12.37 21.9 Power rating (kW/s) 12.27 27.7 22.4 57.6 24.0 50.4 29.6 38.6 38.1
Rotor moment of inertia (x10-4kg-m2)(without brake) 0.0206 0.037 0.177 0.277 0.68 1.13 1.93 2.62 2.65
Mechanical time constant (ms) 1.14 0.75 0.80 0.53 0.74 0.63 1.72 1.20 0.74 Torque constant-KT (N-m/A) 0.23 0.36 0.41 0.49 0.49 0.47 0.65 0.75 0.44
Voltage constant-KE (mV/(r/min) 9.8 13.6 16.0 17.4 18.5 17.2 24.2 27.5 16.8 Armature resistance (Ohm) 12.7 9.30 2.79 1.55 0.93 0.42 1.34 0.897 0.20 Armature inductance (mH) 26 24.0 12.07 6.71 7.39 3.53 7.55 5.7 1.81
Electrical time constant (ms) 2.05 2.58 4.30 4.30 7.96 8.36 5.66 6.35 9.30 Insulation class A class (UL), B class (CE)
Insulation resistance 100MΩ, DC 500V above Insulation strength 1.8k VAC, 1 sec
Weight (kg)(without brake) 0.42 0.5 1.2 1.6 2.1 3.0 2.9 3.8 4.3 Weight (kg)(with brake) -- 0.8 1.5 2.0 2.9 3.8 3.69 5.5 4.7
Max. radial shaft load (N) 78.4 78.4 196 196 245 245 245 245 490 Max. thrust shaft load (N) 39.2 39.2 68 68 98 98 98 98 98
Power rating (kW/s)(with brake) -- 25.6 21.3 53.8 22.1 48.4 29.3 37.9 30.4 Rotor moment of inertia (x10-4kg-m2)(with brake) -- 0.04 0.19 0.30 0.73 1.18 1.95 2.67 3.33
Mechanical time constant (ms)(with brake) -- 0.81 0.85 0.57 0.78 0.65 1.74 1.22 0.93
Brake holding torque [Nt-m (min)]*2 -- 0.3 1.3 1.3 2.5 2.5 2.5 2.5 8.0 Brake power consumption (at 20C)[W] -- 7.3 6.5 6.5 8.2 8.2 8.2 8.2 18.7
Brake release time [ms (Max)] -- 5 10 10 10 10 10 10 10 Brake pull-in time [ms (Max)] -- 25 70 70 70 70 70 70 70
Vibration grade (μm) 15 Operating temperature (C) 0ºC ~ 40ºC Storage temperature (C) -10ºC ~ 80ºC
Operating humidity 20 ~ 90%RH (non-condensing) Storage humidity 20 ~ 90%RH (non-condensing)
Vibration capacity 2.5G IP Rating IP65 (when waterproof connectors are used, or when an oil seal is used to be fit to the rotating shaft)
Approvals
*1 Rate torque values are continuous permissible values at 0 ~ 40ºC ambient temperature when attaching with the sizes of heatsinks listed below: ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm ECMA-_ _ 10: 300 mm x 300 mm x 12 mm ECMA-_ _ 13: 400 mm x 400 mm x 20 mm Material: Aluminum – F40, F60, F80, F100, F130
26
Servo Motor Specifications • Medium / Medium-High / High Inertia Series
ECMA Series C 06 C 08 E 13 F 13 G 13 04 H 07 H 05 10 15 08 03 06 09
Rated output power (kW) 0.4 0.75 0.5 1.0 1.5 0.85 0.3 0.6 0.9 Rated torque (N-m)*1 1.27 2.39 2.39 4.77 7.16 5.41 2.86 5.73 8.59
Maximum torque (N-m) 3.82 7.16 7.16 14.3 21.48 13.8 8.59 17.19 21.48 Rated speed (r/min) 3000 3000 2000 1500 1000
Maximum speed (r/min) 5000 5000 3000 3000 2000 Rated current (A) 2.6 5.1 2.9 5.6 8.3 7.1 2.5 4.8 7.5
Maximum current (A) 7.8 15.3 8.7 16.8 24.9 19.4 7.5 14.4 22.5 Power rating (kW/s) 21.7 19.63 7.0 27.1 45.9 21.52 10.0 39.0 66.0
Rotor moment of inertia (x10-4kg-m2)(without brake) 0.743 2.91 8.17 8.41 11.18 13.6 8.17 8.41 11.18
Mechanical time constant (ms) 1.42 1.6 1.91 1.51 1.10 2.43 1.84 1.40 1.06 Torque constant-KT (N-m/A) 0.49 0.47 0.83 0.85 0.87 0.76 1.15 1.19 1.15
Voltage constant-KE (mV/(r/min) 17.4 17.2 30.9 31.9 31.8 29.2 42.5 43.8 41.6 Armature resistance (Ohm) 1.55 0.42 0.57 0.47 0.26 0.38 1.06 0.82 0.43 Armature inductance (mH) 6.71 3.53 7.39 5.99 4.01 4.77 14.29 11.12 6.97
Electrical time constant (ms) 4.3 8.36 12.96 12.88 15.31 12.55 13.55 13.50 16.06 Insulation class A class (UL), B class (CE)
Insulation resistance 100MΩ, DC 500V Insulation strength 1.8k VAC, 1 sec
Weight (kg)(without brake) 1.8 3.4 6.8 7.0 7.5 8.6 6.8 7.0 7.5 Weight (kg)(with brake) 2.2 3.9 8.2 8.4 8.9 10.0 8.2 8.4 8.9
Max. radial shaft load (N) 196 245 490 490 490 490 490 490 490 Max. thrust shaft load (N) 68 98 98 98 98 98 98 98 98
Power rating (kW/s)(with brake) 21.48 19.3 6.4 24.9 43.1 19.78 9.2 35.9 62.1 Rotor moment of inertia (x10-4kg-m2)(with brake) 0.751 2.96 8.94 9.14 11.90 14.8 8.94 9.14 11.9
Mechanical time constant (ms)(with brake) 1.43 1.62 2.07 1.64 1.19 2.65 2.0 1.51 1.13
Brake holding torque [Nt-m (min)]*2 1.3 1.3 10.0 10.0 10.0 10.0 10.0 10.0 10.0 Brake power consumption (at 20C)[W] 6.5 6.5 19.0 19.0 19.0 19.0 19.0 19.0 19.0
Brake release time [ms (Max)] 10 10 10 10 10 10 10 10 10 Brake pull-in time [ms (Max)] 70 70 70 70 70 70 70 70 70
Vibration grade (μm) 15 Operating temperature (C) 0ºC ~ 40ºC (32ºF ~ 104ºF) Storage temperature (C) -10ºC ~ 80ºC (-14ºF ~ 176ºF)
Operating humidity 20 ~ 90%RH (non-condensing)
Storage humidity 20 ~ 90%RH (non-condensing) Vibration capacity 2.5G
IP Rating IP65 (when waterproof connectors are used, or when an oil seal is used to be fit to the rotating shaft)
Approvals
*1 Rate torque values are continuous permissible values at 0 ~ 40ºC ambient temperature when attaching with the sizes of heatsinks listed below: ECMA-_ _ 04 / 06 / 08: 250 mm x 250 mm x 6 mm ECMA-_ _ 10: 300 mm x 300 mm x 12 mm ECMA-_ _ 13: 400 mm x 400 mm x 20 mm Material: Aluminum – F40, F60, F80, F100, F130
27
1" )
1) Dimensions are in millimeters (inches); Weights are in grams (g) 2) Dimensions and weights of the handheld HMI may be revised without prior notice
Unit: mm (inch) Weight: 720g (without cable)
28
LCD Module
Display Size & Type 7” Widescreen TFT LCD Display Colors 65536 colors
Resolution (pixels) 800 x 480 Backlight LED Back Light
Luminance (cd/m2) 450 Backlight Life*1
(hours) 20,000
Buzzer Multi-Tone Frequency (2K ~ 4K Hz) 80dB Audio Output N/A
USB 1 USB Client Ver 2.0 SD SD Card (Supports SDHC)
Serial COM Port N/A Ethernet 1 Ports*2
Function Key 15 Cable Length & Type 5 m
Emergency Stop
Max. rated current: 500mA Min. allowable load: DC 5V / 1mA
Complies with IEC60947-5-1, EN60947-5-1, IEC60947-5-5, EN60947-5-5, UL 508, CSA C22.2 No.14, GB 14085.5
3-Position Operation Switch
Max. rated current: 500mA Min. allowable load: DC 3V/5mA
Complies with EN/IEC60947-5-8, IEC60947-5-1, EN60947-5-1, JIS C8201-5-1, UL508, CSA C22.2 NO. 14 Applicable standards for use with ISO12100-1, -2 / EN12100-1, -2, IEC60204-1/EN60204-1, ISO11161/
prEN11161, ISO10218/EN775, ANSI/RIA R15.06, ANSI B11.19
Handwheel N/A
Output Pulse: Square Output Phase: A, B
Phase difference of A and B: 90° ± 45° Max. Frequency response: 200 Hz
Perpetual Calendar Built-in Cooling Method Natural cooling Safety Approval CE*4
Waterproof Level of Panel Display IP55 Operation Voltage*3 DC + 24V(-10% ~ +15%) Voltage Endurance AC500V for 1 minute (between charging DC24V terminal and FG terminals)
Power Consumption*5 5.6W Backup Battery 3V lithium battery CR2450 × 1
Backup Battery Life About 5 years or more at 25ºC but subjects to the temperature and the conditions during usage. Operation Temperature 0ºC ~ 40ºC Storage Temperature -20ºC ~ +60ºC, 10% ~ 90% RH
Operating Environment 10% ~ 90% RH0 ~ 40ºC; 10% ~ 55% RH41 ~ 50ºC; Pollution Degree 2 Vibration Conforms to IEC61131-2; Continuous: 5Hz ~ 8.3Hz 3.5 mm, 8.3Hz ~ 150Hz 1G
Shock Conforms to IEC60068-2-27; 11ms, 15G Peak , X, Y, Z direction for 6 times Dimensions
( W ) x ( H ) x ( D ) mm 257.4 x 170.3 x 71.8 (emergency stop switch and hook included)
Weight 750g (cable excluded) *1 The half-life of backlight is defined as original luminance being reduced by 50% when the maximum driving current is supplied to HMI *2 With built-in isolated power circuit *3 Please use isolated power supply *4 Some models are in the process of application for UL and KCC certification. For more information, please consult our distributors *5 The value of the power consumption indicates the electrical power consumed by HMI with no peripheral devices connected. To ensure normal operation, it is recommended to use a power supply with a capacity 1.5 ~2 times the value of the power consumption *6 The content of this catalogue may be revised without prior notice. Please consult our distributors or download the most updated version at http://www.deltaww.com
29
Power Connectors (for both A2 & A3 Series) ASDBCAPW0000 (for servo motors with 40/60/80/86 frame size)
ASDBCAPW0100 (for servo motors with 40/60/80/86 frame size and brake cable)
ASD-CAPW1000 (for servo motors with 100/130 frame size)
Title Part No. Manufacturer
Housing C4201H00-2*2PA JOWLE
Item Part No. L mm inch
1 ACS3-CAEA1003 3000 ± 100 118 ± 4 2 ACS3-CAEA1005 5000 ± 100 197 ± 4
Item Part No. L mm inch
1 ACS3-CAEA3003 3000 ± 100 118 ± 4 2 ACS3-CAEA3005 5000 ± 100 197 ± 4
L
ACS3-CAEA3003 / ACS3-CAEA3005
(70 mm)L
Incremental Encoder Cables
Battery Box Cord AW (Connects to the battery side of the encoder cable)
Battery Boxes with batteries
ACS3-CAEN1003 / ACS3-CAEN1005
ACS3-CAEN3003 / ACS3-CAEN3005
Terminal Accessory Kit
Standard I/O Terminal (STD.DIO) Main Circuit Terminal (R,S,T) Control Circuit Terminal (24V) Servo Motor Output (U,V,W) 2 Set STO Connector Motor Brake Output Terminal STO I/O Terminal (Safe Torque Off) System I/O Terminal (SYS.DIO) Motor Encoder Interface (MOTOR. ENC.) Full-Closed Loop Control Interface (EXT.ENC)
GMC-MS00AC
Quick Release Connector ASDBCAPW0100
DMCNET Extension Module 32 DO Transistor Output ASD-DMC-RM32NT
DMCNET Extension Module 64 DI (NPN//PNP) ASD-DMC-RM64MN
DMCNET Extension Module 64 DO Transistor Output ASD-DMC-RM64NT
DMCNET Extension Module 16 DI/ 16 DO Transistor Output ASD-DMC-RM32PT
DMCNET Extension Module with 4 sets of analog input ASD-DMC-RM04AD
DMCNET Extension Module with 4 sets of analog output ASD-DMC-RM04DA
DMCNET Extension Module with 4 sets of pulse output ASD-DMC-RM04PI
DMCNET Communication Cables
ASD-TR-DM0008 DMCNET Bus-way Terminal Communication Resistance (optional)
32
33
(Diamond-rated Green Building) Tainan Plant
6 Factories 117 Branch Offices 13 R&D Centers 915 Distributors
Shanghai Office Amsterdam, the Netherlands Research Triangle Park, U.S.A.
1 2
3 4
Fujian Xiamen Fuzhou Quanzhou
Yunnan Kunming
Sichuan Chengdu
Shaanxi Xian
Shandong Qingdao Jinan Yantai Jiangsu Yangzhou Nanjing Nantong Changzhou Wuxi Suzhou Kunshan Xuzhou
Jilin Changchun
Shanghai
Zhong li Taichung Tainan
Egypt Cairo
Northern Europe
Central Europe
(Diamond-rated Green Building) Tainan Plant
6 Factories 117 Branch Offices 13 R&D Centers 915 Distributors
Shanghai Office Amsterdam, the Netherlands Research Triangle Park, U.S.A.
1 2
3 4
Fujian Xiamen Fuzhou Quanzhou
Yunnan Kunming
Sichuan Chengdu
Shaanxi Xian
Shandong Qingdao Jinan Yantai Jiangsu Yangzhou Nanjing Nantong Changzhou Wuxi Suzhou Kunshan Xuzhou
Jilin Changchun
Shanghai
Zhong li Taichung Tainan
Egypt Cairo
Northern Europe
Central Europe
Industrial Automation Headquarters Delta Electronics, Inc. Taoyuan Technology Center No.18, Xinglong Rd., Taoyuan District, Taoyuan City 33068, Taiwan TEL: 886-3-362-6301 / FAX: 886-3-371-6301
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Delta Energy Systems (Singapore) Pte Ltd. 4 Kaki Bukit Avenue 1, #05-04, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd. Plot No.43, Sector 35, HSIIDC Gurgaon, PIN 122001, Haryana, India TEL: 91-124-4874900 / FAX : 91-124-4874945
Delta Electronics (Thailand) PCL. 909 Soi 9, Moo 4, Bangpoo Industrial Estate (E.P.Z), Pattana 1 Rd., T.Phraksa, A.Muang, Samutprakarn 10280, Thailand TEL: 66-2709-2800 / FAX : 662-709-2827
Delta Energy Systems (Australia) Pty Ltd. Unit 20-21/45 Normanby Rd., Notting Hill Vic 3168, Australia TEL: 61-3-9543-3720
Americas Delta Electronics (Americas) Ltd. Raleigh Office P.O. Box 12173, 5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. TEL: 1-919-767-3813 / FAX: 1-919-767-3969
Delta Greentech (Brasil) S/A São Paulo Office Rua Itapeva, 26 – 3 Andar - Bela Vista CEP: 01332-000 – São Paulo – SP - Brasil TEL: 55-11-3530-8642 / 55-11-3530-8640
Delta Electronics International Mexico S.A. de C.V. Mexico Office Vía Dr. Gustavo Baz No. 2160, Colonia La Loma, 54060 Tlalnepantla Estado de Mexico TEL: 52-55-2628-3015 #3050/3052
*We reserve the right to change the information in this catalogue without prior notice.
EMEA Headquarters: Delta Electronics (Netherlands) B.V. Sales: [email protected] Marketing: [email protected] Technical Support: [email protected] Customer Support: [email protected] Service: [email protected] TEL: +31(0)40 800 3800
BENELUX: Delta Electronics (Netherlands) B.V. De Witbogt 20, 5652 AG Eindhoven, The Netherlands Mail: [email protected] TEL: +31(0)40 800 3800
DACH: Delta Electronics (Netherlands) B.V. Coesterweg 45, D-59494 Soest, Germany Mail: [email protected] TEL: +49(0)2921 987 0
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Carrer Llacuna 166, 08018 Barcelona, Spain Mail: [email protected]
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Russia: Delta Energy System LLC Vereyskaya Plaza II, office 112 Vereyskaya str. 17 121357 Moscow Russia Mail: [email protected] TEL: +7 495 644 3240
Turkey: Delta Greentech Elektronik San. Ltd. Sti. (Turkey) erifali Mah. Hendem Cad. Kule Sok. No:16-A 34775 Ümraniye – stanbul Mail: [email protected] TEL: + 90 216 499 9910
GCC: Delta Energy Systems AG (Dubai BR) P.O. Box 185668, Gate 7, 3rd Floor, Hamarain Centre Dubai, United Arab Emirates Mail: [email protected] TEL: +971(0)4 2690148

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Automation for a Changing World Delta Robot Controller